Revision: 6946
http://playerstage.svn.sourceforge.net/playerstage/?rev=6946&view=rev
Author: thjc
Date: 2008-08-09 02:30:28 +0000 (Sat, 09 Aug 2008)
Log Message:
-----------
Fixed some obscure timing issues in libplayertcp/remote driver/filewatcher code
which only surfaced with specific use of the passthrough driver.
Also loop iteration in wait call of filewatcher.
Modified Paths:
--------------
code/player/branches/release-2-1-patches/libplayercore/filewatcher.cc
code/player/branches/release-2-1-patches/libplayertcp/playertcp.cc
code/player/branches/release-2-1-patches/libplayertcp/playertcp.h
code/player/branches/release-2-1-patches/libplayertcp/remote_driver.cc
code/player/branches/release-2-1-patches/libplayertcp/remote_driver.h
code/player/branches/release-2-1-patches/server/server.cc
Modified: code/player/branches/release-2-1-patches/libplayercore/filewatcher.cc
===================================================================
--- code/player/branches/release-2-1-patches/libplayercore/filewatcher.cc
2008-08-07 13:48:09 UTC (rev 6945)
+++ code/player/branches/release-2-1-patches/libplayercore/filewatcher.cc
2008-08-09 02:30:28 UTC (rev 6946)
@@ -45,6 +45,7 @@
Lock();
if (WatchedFilesArrayCount == 0)
{
+ PLAYER_ERROR("File watcher wait called with no files to watch");
Unlock();
return 0;
}
@@ -75,20 +76,25 @@
struct timeval t;
t.tv_sec = static_cast<int> (floor(Timeout));
t.tv_usec = static_cast<int> ((Timeout - static_cast<int>
(floor(Timeout))) * 1e6);
- Unlock();
int ret = select (maxfd+1,&ReadFds,&WriteFds,&ExceptFds,&t);
if (ret < 0)
{
PLAYER_ERROR2("Select called failed in File Watcher: %d
%s",errno,strerror(errno));
+ Unlock();
return ret;
}
+ else if (ret == 0)
+ {
+ Unlock();
+ return 0;
+ }
int queueless_count = 0;
+ int match_count = 0;
- Lock();
- for (unsigned int ii = 0; ii < WatchedFilesArrayCount &&
static_cast<int> (ii) < maxfd; ++ii)
+ for (unsigned int ii = 0; ii < WatchedFilesArrayCount && ret >
match_count; ++ii)
{
int fd = WatchedFiles[ii].fd;
QueuePointer &q = WatchedFiles[ii].queue;
@@ -98,18 +104,26 @@
(WatchedFiles[ii].Write &&
FD_ISSET(fd,&WriteFds)) ||
(WatchedFiles[ii].Except &&
FD_ISSET(fd,&ExceptFds)))
{
+ match_count++;
if (q != NULL)
{
q->DataAvailable();
}
else
+ {
queueless_count++;
+ }
}
}
}
Unlock();
+ if (ret != match_count)
+ {
+ PLAYER_ERROR1("Failed to match %d file descriptors in select
results",ret - match_count);
+ }
+
return queueless_count;
}
@@ -125,32 +139,27 @@
Lock();
// find the first available file descriptor
struct fd_driver_pair *next_entry = NULL;
- if (WatchedFilesArrayCount < WatchedFilesArraySize)
+ // first see if there is an empty spot in the list
+ for (unsigned int ii = 0; ii < WatchedFilesArrayCount; ++ii)
{
- next_entry = &WatchedFiles[WatchedFilesArrayCount];
- WatchedFilesArrayCount++;
+ if (WatchedFiles[ii].fd < 0)
+ {
+ next_entry = &WatchedFiles[ii];
+ break;
+ }
}
- else
+ if (next_entry == NULL)
{
- // first see if there is an empty spot in the list
- for (unsigned int ii = 0; ii < WatchedFilesArrayCount; ++ii)
+ if (WatchedFilesArrayCount >= WatchedFilesArraySize)
{
- if (WatchedFiles[ii].fd < 0)
- {
- next_entry = &WatchedFiles[ii];
- break;
- }
- }
- if (next_entry == NULL)
- {
// otherwise we allocate some more room for the array
size_t orig_size = WatchedFilesArraySize;
WatchedFilesArraySize*=2;
WatchedFiles = reinterpret_cast<struct fd_driver_pair
*> (realloc(WatchedFiles,sizeof(WatchedFiles[0])*WatchedFilesArraySize));
memset(&WatchedFiles[orig_size],0,sizeof(WatchedFiles[0])*(WatchedFilesArraySize-orig_size));
- next_entry = &WatchedFiles[WatchedFilesArrayCount];
-
}
+ next_entry = &WatchedFiles[WatchedFilesArrayCount];
+ WatchedFilesArrayCount++;
}
next_entry->fd = fd;
@@ -158,6 +167,7 @@
next_entry->Read = WatchRead;
next_entry->Write = WatchWrite;
next_entry->Except = WatchExcept;
+
Unlock();
return 0;
}
Modified: code/player/branches/release-2-1-patches/libplayertcp/playertcp.cc
===================================================================
--- code/player/branches/release-2-1-patches/libplayertcp/playertcp.cc
2008-08-07 13:48:09 UTC (rev 6945)
+++ code/player/branches/release-2-1-patches/libplayertcp/playertcp.cc
2008-08-09 02:30:28 UTC (rev 6946)
@@ -214,7 +214,9 @@
bool have_lock)
{
if(!have_lock)
+ {
Lock();
+ }
unsigned char data[PLAYER_IDENT_STRLEN];
@@ -254,7 +256,6 @@
// set up for later use by global file watcher
fileWatcher->AddFileWatch(this->client_ufds[j].fd);
-
// Create an outgoing queue for this client
this->clients[j].queue =
QueuePointer(true,PLAYER_MSGQUEUE_DEFAULT_MAXLEN);
@@ -329,7 +330,9 @@
}
if(!num_accepts)
+ {
return(0);
+ }
for(int i=0; (i<num_listeners) && (num_accepts>0); i++)
{
@@ -395,9 +398,9 @@
}
}
free(this->clients[cli].dev_subs);
+ fileWatcher->RemoveFileWatch(this->clients[cli].fd);
if(close(this->clients[cli].fd) < 0)
PLAYER_WARN1("close() failed: %s", strerror(errno));
- fileWatcher->RemoveFileWatch(this->clients[cli].fd);
this->clients[cli].fd = -1;
this->clients[cli].valid = 0;
Modified: code/player/branches/release-2-1-patches/libplayertcp/playertcp.h
===================================================================
--- code/player/branches/release-2-1-patches/libplayertcp/playertcp.h
2008-08-07 13:48:09 UTC (rev 6945)
+++ code/player/branches/release-2-1-patches/libplayertcp/playertcp.h
2008-08-09 02:30:28 UTC (rev 6946)
@@ -136,13 +136,13 @@
/** Total size of @p decode_readbuffer */
int decode_readbuffersize;
+ void Lock();
+ void Unlock();
public:
PlayerTCP();
~PlayerTCP();
- void Lock();
- void Unlock();
static void InitGlobals(void);
@@ -150,7 +150,7 @@
int Listen(int* ports, int num_ports, int* new_ports=NULL);
int Listen(int port);
- QueuePointer AddClient(struct sockaddr_in* cliaddr,
+ QueuePointer AddClient(struct sockaddr_in* cliaddr,
unsigned int local_host,
unsigned int local_port,
int newsock,
Modified: code/player/branches/release-2-1-patches/libplayertcp/remote_driver.cc
===================================================================
--- code/player/branches/release-2-1-patches/libplayertcp/remote_driver.cc
2008-08-07 13:48:09 UTC (rev 6945)
+++ code/player/branches/release-2-1-patches/libplayertcp/remote_driver.cc
2008-08-09 02:30:28 UTC (rev 6946)
@@ -2,7 +2,6 @@
* Player - One Hell of a Robot Server
* Copyright (C) <insert dates here>
* <insert author's name(s) here>
- *
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
@@ -55,24 +54,20 @@
#include <libplayerxdr/playerxdr.h>
#include "remote_driver.h"
-TCPRemoteDriver::TCPRemoteDriver(player_devaddr_t addr, void* arg)
- : Driver(NULL, 0, false, PLAYER_MSGQUEUE_DEFAULT_MAXLEN)
+TCPRemoteDriver::TCPRemoteDriver(player_devaddr_t addr, void* arg)
+ : Driver(NULL, 0, false, PLAYER_MSGQUEUE_DEFAULT_MAXLEN),
+ sock(-1),
+ setup_timeout (DEFAULT_SETUP_TIMEOUT)
{
- if(arg)
- this->ptcp = (PlayerTCP*)arg;
- else
- this->ptcp = NULL;
-
- this->sock = -1;
- this->setup_timeout = DEFAULT_SETUP_TIMEOUT;
+ ptcp = reinterpret_cast<PlayerTCP*> (arg);
}
TCPRemoteDriver::~TCPRemoteDriver()
{
}
-int
-TCPRemoteDriver::Setup()
+int
+TCPRemoteDriver::Setup()
{
struct sockaddr_in server;
char banner[PLAYER_IDENT_STRLEN];
@@ -94,7 +89,7 @@
}
- // Construct socket
+ // Construct socket
this->sock = socket(PF_INET, SOCK_STREAM, 0);
if(this->sock < 0)
{
@@ -106,17 +101,17 @@
server.sin_addr.s_addr = this->device_addr.host;
server.sin_port = htons(this->device_addr.robot);
- // Connect the socket
+ // Connect the socket
if(connect(this->sock, (struct sockaddr*)&server, sizeof(server)) < 0)
{
PLAYER_ERROR3("connect call on [%s:%u] failed with error [%s]",
this->ipaddr,
- this->device_addr.robot,
+ this->device_addr.robot,
strerror(errno));
return(-1);
}
- printf("connected to: %s:%u\n",
+ PLAYER_MSG2(2,"connected to: %s:%u\n",
this->ipaddr, this->device_addr.robot);
// make the socket non-blocking
@@ -143,7 +138,7 @@
numread=0;
while(numread < (int)sizeof(banner))
{
- if((thisnumread = read(this->sock, banner+numread,
+ if((thisnumread = read(this->sock, banner+numread,
sizeof(banner)-numread)) < 0)
{
if(errno != EAGAIN)
@@ -171,13 +166,14 @@
// Add this socket for monitoring
this->kill_flag = 0;
- this->queue = this->ptcp->AddClient(NULL,
- this->device_addr.host,
- this->device_addr.robot,
- this->sock,
+ this->queue = this->ptcp->AddClient(NULL,
+ this->device_addr.host,
+ this->device_addr.robot,
+ this->sock,
false,
&this->kill_flag,
(this->ptcp->thread == pthread_self()));
+
PLAYER_MSG0(5,"Adding new TCPRemoteDriver to the PlayerTCP Client
List...Success");
return(0);
@@ -206,7 +202,7 @@
req.driver_name_count = 0;
// Encode the body
- if((encode_msglen =
+ if((encode_msglen =
player_device_req_pack(buf + PLAYERXDR_MSGHDR_SIZE,
sizeof(buf)-PLAYERXDR_MSGHDR_SIZE,
&req, PLAYERXDR_ENCODE)) < 0)
@@ -233,7 +229,7 @@
while(numbytes < encode_msglen)
{
- if((thisnumbytes = write(this->sock, buf+numbytes,
+ if((thisnumbytes = write(this->sock, buf+numbytes,
encode_msglen-numbytes)) < 0)
{
if(errno != EAGAIN)
@@ -258,13 +254,13 @@
// In any case, explicitly unsubscribing is just a courtesy.
if(mode == PLAYER_CLOSE_MODE)
return(0);
-
+
// Receive the response header
GlobalTime->GetTimeDouble(&t1);
numbytes = 0;
while(numbytes < PLAYERXDR_MSGHDR_SIZE)
{
- if((thisnumbytes = read(this->sock, buf+numbytes,
+ if((thisnumbytes = read(this->sock, buf+numbytes,
PLAYERXDR_MSGHDR_SIZE-numbytes)) < 0)
{
if(errno != EAGAIN)
@@ -291,7 +287,7 @@
}
// Is it the right kind of message?
- if(!Message::MatchMessage(&hdr,
+ if(!Message::MatchMessage(&hdr,
PLAYER_MSGTYPE_RESP_ACK,
PLAYER_PLAYER_REQ_DEV,
hdr.addr))
@@ -305,7 +301,7 @@
numbytes = 0;
while(numbytes < (int)hdr.size)
{
- if((thisnumbytes = read(this->sock, buf+PLAYERXDR_MSGHDR_SIZE+numbytes,
+ if((thisnumbytes = read(this->sock, buf+PLAYERXDR_MSGHDR_SIZE+numbytes,
hdr.size-numbytes)) < 0)
{
if(errno != EAGAIN)
@@ -351,8 +347,8 @@
return(0);
}
-int
-TCPRemoteDriver::Shutdown()
+int
+TCPRemoteDriver::Shutdown()
{
// Have we already been killed?
if(!this->kill_flag)
@@ -366,27 +362,12 @@
this->ptcp->DeleteClient(this->queue,
(this->ptcp->thread == pthread_self()));
}
- return(0);
+ return(0);
}
-void
-TCPRemoteDriver::Update()
-{
- if(this->ptcp->thread == pthread_self())
- {
- //this->ptcp->Read(0,true);
- this->ptcp->Lock();
- this->ptcp->ReadClient(this->queue);
- this->ptcp->Unlock();
- }
- this->ProcessMessages();
- if(this->ptcp->thread == pthread_self())
- this->ptcp->Write(false);
-}
-
-int
-TCPRemoteDriver::ProcessMessage(QueuePointer &resp_queue,
- player_msghdr * hdr,
+int
+TCPRemoteDriver::ProcessMessage(QueuePointer &resp_queue,
+ player_msghdr * hdr,
void * data)
{
// Is it data from the remote device?
@@ -444,7 +425,7 @@
}
}
// Forward response (success or failure) from the laser
- else if((Message::MatchMessage(hdr, PLAYER_MSGTYPE_RESP_ACK,
+ else if((Message::MatchMessage(hdr, PLAYER_MSGTYPE_RESP_ACK,
-1, this->device_addr)) ||
(Message::MatchMessage(hdr, PLAYER_MSGTYPE_RESP_NACK,
-1, this->device_addr)))
@@ -461,7 +442,7 @@
}
-Driver*
+Driver*
TCPRemoteDriver::TCPRemoteDriver_Init(player_devaddr_t addr, void* arg)
{
return((Driver*)(new TCPRemoteDriver(addr, arg)));
Modified: code/player/branches/release-2-1-patches/libplayertcp/remote_driver.h
===================================================================
--- code/player/branches/release-2-1-patches/libplayertcp/remote_driver.h
2008-08-07 13:48:09 UTC (rev 6945)
+++ code/player/branches/release-2-1-patches/libplayertcp/remote_driver.h
2008-08-09 02:30:28 UTC (rev 6946)
@@ -2,8 +2,8 @@
* Player - One Hell of a Robot Server
* Copyright (C) <insert dates here>
* <insert author's name(s) here>
- *
*
+ *
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
@@ -63,9 +63,8 @@
virtual int Setup();
virtual int Shutdown();
- virtual void Update();
- virtual int ProcessMessage(QueuePointer & resp_queue,
- player_msghdr * hdr,
+ virtual int ProcessMessage(QueuePointer & resp_queue,
+ player_msghdr * hdr,
void * data);
static Driver* TCPRemoteDriver_Init(player_devaddr_t addr, void* arg);
Modified: code/player/branches/release-2-1-patches/server/server.cc
===================================================================
--- code/player/branches/release-2-1-patches/server/server.cc 2008-08-07
13:48:09 UTC (rev 6945)
+++ code/player/branches/release-2-1-patches/server/server.cc 2008-08-09
02:30:28 UTC (rev 6946)
@@ -295,26 +295,27 @@
while(!player_quit)
{
// wait until something other than driver requested watches happens
- fileWatcher->Wait();
-
- if(ptcp->Accept(0) < 0)
+ int numready = fileWatcher->Wait(0.01); // run at a minimum of 100Hz for
other drivers
+ if (numready > 0)
{
- PLAYER_ERROR("failed while accepting new TCP connections");
- break;
- }
+ if(ptcp->Accept(0) < 0)
+ {
+ PLAYER_ERROR("failed while accepting new TCP connections");
+ break;
+ }
- if(ptcp->Read(100,false) < 0)
- {
- PLAYER_ERROR("failed while reading from TCP clients");
- break;
- }
+ if(ptcp->Read(0,false) < 0)
+ {
+ PLAYER_ERROR("failed while reading from TCP clients");
+ break;
+ }
- if(pudp->Read(0) < 0)
- {
- PLAYER_ERROR("failed while reading from UDP clients");
- break;
+ if(pudp->Read(0) < 0)
+ {
+ PLAYER_ERROR("failed while reading from UDP clients");
+ break;
+ }
}
-
deviceTable->UpdateDevices();
if(ptcp->Write(false) < 0)
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